Titre :

Visual Servoing Control of Soft Robots based on Finite Element Model

Auteur(s) :

Zhang, Zhongkai [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Morales Bieze, Thor [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Deformable Robots Simulation Team [DEFROST ]
Université de Lille, Sciences et Technologies
Dequidt, Jeremie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Université de Lille, Sciences et Technologies
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Centrale Lille
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Titre de la manifestation scientifique :

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

Ville :

Vancouver

Pays :

Canada

Date de début de la manifestation scientifique :

2017-09-24

Date de publication :

2017-09-24

Mot(s)-clé(s) en anglais :

robust stability
image features loss
simulation- based predictor
Finite Element Model
Soft robot

Discipline(s) HAL :

Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [en]

In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in ...
Lire la suite >In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL